vector loadDetections()

in tools/kitti_eval/evaluate_object_3d_offline_ap11.cpp [133:178]

• 38 lines of code
• 13 McCabe index (conditional complexity)

vector<tDetection> loadDetections(string file_name, bool &compute_aos,
        vector<bool> &eval_image, vector<bool> &eval_ground,
        vector<bool> &eval_3d, bool &success) {

  // holds all detections (ignored detections are indicated by an index vector
  vector<tDetection> detections;
  FILE *fp = fopen(file_name.c_str(),"r");
  if (!fp) {
    success = false;
    return detections;
  }
  while (!feof(fp)) {
    tDetection d;
    double trash;
    char str[255];
    if (fscanf(fp, "%s %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
                   str, &trash, &trash, &d.box.alpha, &d.box.x1, &d.box.y1,
                   &d.box.x2, &d.box.y2, &d.h, &d.w, &d.l, &d.t1, &d.t2, &d.t3,
                   &d.ry, &d.thresh)==16) {

        // d.thresh = 1;
      d.box.type = str;
      detections.push_back(d);

      // orientation=-10 is invalid, AOS is not evaluated if at least one orientation is invalid
      if(d.box.alpha == -10)
        compute_aos = false;

      // a class is only evaluated if it is detected at least once
      for (int c = 0; c < NUM_CLASS; c++) {
        if (!strcasecmp(d.box.type.c_str(), CLASS_NAMES[c].c_str())) {
          if (!eval_image[c] && d.box.x1 >= 0)
            eval_image[c] = true;
          if (!eval_ground[c] && d.t1 != -1000)
            eval_ground[c] = true;
          if (!eval_3d[c] && d.t2 != -1000)
            eval_3d[c] = true;
          break;
        }
      }
    }
  }
  fclose(fp);
  success = true;
  return detections;
}